Vehicle and driving and braking fusion control device and method for vehicle

Abstract

The invention provides a vehicle and a driving and braking fusion control device and method for the vehicle. The driving and braking cost and the arrangement difficulty in the vehicle are reduced. The vehicle comprises a first motor brake, a second motor brake, a driving system and a control device, wherein the first motor brake and the second motor brake are arranged on the first side of the vehicle; the driving system is arranged on the second side of the vehicle and has an energy recovery function; the control device is used for controlling a left wheel of a first side wheel of the vehicle to be braked only by the first motor brake and a right wheel of the first side wheel of the vehicle to be braked only by the second motor brake; the control device is also used for controlling a left wheel and a right wheel of a second side wheel of the vehicle to be braked only through the driving system, and the first side and the second side are the front side and the rear side respectively.

Description

Technical Field

[0001] The present application relates to the field of automobile drive technology, and in particular to a vehicle, and a drive and brake fusion control device and method for the vehicle. Background Art

[0002] The electric motor brake (EMB) is an electric brake device that uses a motor to drive a mechanical piston to brake the wheel. Compared with the traditional hydraulic brake device, the EMB has the advantages of fast response speed, high precision, and no risk of liquid leakage. Therefore, it is widely used in vehicle brakes. At present, vehicles generally use a drive system to achieve the driving function and a brake to achieve the braking function. The drive system and the brake are completely decoupled. Specifically, the EMB is set at each wheel of the vehicle, and a drive motor is set at each wheel. Although this design can ensure the braking safety of the vehicle, it will make the layout of the drive brake more difficult and the cost of the drive brake higher. Summary of the invention

[0003] The present application provides a vehicle, a drive-brake fusion control device and a method for the vehicle, so as to reduce the drive-brake cost and the difficulty of arrangement in the vehicle.

[0004] In a first aspect, the present application provides a vehicle, comprising: a first motor brake and a second motor brake disposed on a first side of the vehicle, a drive system disposed on a second side of the vehicle and having a cooperative regenerative brake (CRB) function, and a control device. The control device is used to control the left wheel of the first side of the vehicle to be braked only by the first motor brake and the right wheel of the first side of the vehicle to be braked only by the second motor brake, and the control device is also used to control the left wheel and the right wheel of the second side of the vehicle to be braked only by the drive system.

[0005] It should be pointed out that, in the first side and the second side described above in the present application, one side is the front side and the other side is the rear side. Specifically, the first motor brake and the second motor brake can be arranged at the two front wheels of the vehicle, respectively, and used to brake the front wheels of the vehicle, and the drive system can be arranged at the two rear wheels or the rear axle of the vehicle, and used to drive or brake the rear wheels of the vehicle, that is, the present application can be applied to electric vehicles or hybrid vehicles whose rear wheels or rear axles have driving capabilities and energy recovery functions. Alternatively, the first motor brake and the second motor brake are arranged at the two rear wheels of the vehicle, respectively, and used to brake the rear wheels of the vehicle, and the drive system can be arranged at the two front wheels or the front axle of the vehicle, and used to drive or brake the front wheels of the vehicle, that is, the present application can be applied to electric vehicles or hybrid vehicles whose front wheels or front axles have driving capabilities and energy recovery functions.

[0006] In this application, the braking energy recovery function of the drive system can better integrate the drive braking system, reduce the drive braking cost and the difficulty of layout in the vehicle. The first side wheel of the vehicle is only provided with braking force by two motor brakes, and the second side wheel of the vehicle is only provided with braking force by the drive system, which can supplement the insufficient braking force of the first side wheel, solve the problem of insufficient braking force, and make the vehicle have higher braking safety.

[0007] In some embodiments of the present application, in the event of a failure, the control device is used to: in response to the failure of the first motor brake, disable the second motor brake to brake the right wheel of the first side wheels, and control the drive system to brake the left and right wheels of the second side wheels. In response to the failure of the second motor brake, disable the first motor brake to brake the left wheel of the first side wheels, and control the drive system to brake the left and right wheels of the second side wheels.

[0008] In some embodiments of the present application, the drive system may include two drive motors, namely a first drive motor and a second drive motor, and both the first drive motor and the second drive motor need to have a braking energy recovery function. The first drive motor is used to drive or brake the left wheel of the second side wheel of the vehicle, and the second drive motor is used to drive or brake the right wheel of the second side wheel of the vehicle. Specifically, the two drive motors may be two wheel hub motors respectively arranged in the second side wheel of the vehicle, or the two drive motors may also be two wheel side motors respectively arranged at the edge of the second side wheel of the vehicle, or the two drive motors may also be two ordinary drive motors arranged on the chassis of the vehicle and transmitting the driving torque through the shaft. In the event of failure, the control device is used to: in response to the failure of the first motor brake, disable the second drive motor to brake the right wheel of the second side wheel, and control the first drive motor to brake the left wheel of the second side wheel and the second motor brake to brake the right wheel of the first side wheel, or disable the second motor brake to brake the right wheel of the first side wheel, and control the first drive motor and the second drive motor to brake the left wheel and the right wheel of the second side wheel respectively. In response to failure of the second motor brake, the first drive motor is disabled to brake the left wheel of the second side wheels, and the second drive motor is controlled to brake the right wheel of the second side wheels and the first motor brake is controlled to brake the left wheel of the first side wheels, or the first motor brake is disabled to brake the left wheel of the first side wheels, and the first drive motor and the second drive motor are controlled to brake the left wheel and the right wheel of the second side wheels respectively.

[0009] In some embodiments of the present application, when the drive system includes two drive motors, in the event of a failure, the control device is used to: in response to the failure of the first drive motor, disable the second drive motor to brake the right wheel of the second side wheel, and control the first motor brake and the second motor brake to brake the left wheel and the right wheel of the first side wheel respectively. In response to the failure of the second drive motor, disable the first drive motor to brake the left wheel of the second side wheel, and control the first motor brake and the second motor brake to brake the left wheel and the right wheel of the first side wheel respectively.

[0010] In some embodiments of the present application, in the event of a failure, the control device is used to: in response to the failure of any one of the first motor brake, the second motor brake and the drive system, the control device provides a correction angle signal to the steering system so that the steering system compensates for the steering angle.

[0011] In some embodiments of the present application, when the braking force requirements are different, the control device is used to: in response to the braking force requirement indicated by the braking signal being less than a first threshold, control the drive system to brake the left and right wheels of the second side wheels.

[0012] In some embodiments of the present application, when the braking force requirements are different, the control device is used to: in response to the braking force requirement indicated by the braking signal being greater than a first threshold and less than a second threshold, control the first motor brake and the second motor brake to brake the left wheel and the right wheel of the first side wheel.

[0013] In some embodiments of the present application, when the braking force requirements are different, the control device is used to: in response to the braking force requirement indicated by the braking signal being greater than a second threshold, control the first motor brake and the second motor brake to brake the left wheel and the right wheel of the first side wheel, and control the drive system to brake the left wheel and the right wheel of the second side wheel.

[0014] In some embodiments of the present application, when the braking force requirements are different, the control device is used to: in response to the braking force requirement indicated by the brake signal being greater than the second threshold and less than the third threshold, control the first motor brake and the second motor brake to brake the left wheel and the right wheel of the first side wheel, and control the drive system to brake the left wheel and the right wheel of the second side wheel through the energy recovery function. In response to the braking force requirement indicated by the brake signal being greater than the third threshold, control the first motor brake and the second motor brake to brake the left wheel and the right wheel of the first side wheel, and control the drive system to reversely brake the left wheel and the right wheel of the second side wheel.

[0015] In a second aspect, the present application provides a drive-brake fusion control device for a vehicle, wherein the vehicle includes a first motor brake, a second motor brake and a drive system with an energy recovery function, and the drive system includes a first drive motor and a second drive motor. Wherein: the first motor brake is used to brake the left wheel of the first side wheel of the vehicle, and the second motor brake is used to brake the right wheel of the first side wheel of the vehicle; the first drive motor is used to drive or brake the left wheel of the second side wheel of the vehicle, and the second drive motor is used to drive or brake the right wheel of the second side wheel of the vehicle, wherein the first side and the second side are the front side and the rear side, respectively. In the event of a failure, the control device is used to:

[0016] In response to the failure of the first motor brake, the second drive motor is disabled to brake the right wheel of the second side wheel, and the first drive motor is controlled to brake the left wheel of the second side wheel and the second motor brake is controlled to brake the right wheel of the first side wheel, or the second motor brake is disabled to brake the right wheel of the first side wheel, and the first drive motor and the second drive motor are controlled to brake the left wheel and the right wheel of the second side wheel respectively. In response to the failure of the second motor brake, the first drive motor is disabled to brake the left wheel of the second side wheel, and the second drive motor is controlled to brake the right wheel of the second side wheel and the first motor brake is controlled to brake the left wheel of the first side wheel, or the first motor brake is disabled to brake the left wheel of the first side wheel, and the first drive motor and the second drive motor are controlled to brake the left wheel and the right wheel of the second side wheel respectively.

[0017] In some embodiments of the present application, in the event of a failure, the control device can also be used to: in response to the failure of any one of the first motor brake, the second motor brake, the first drive motor and the second drive motor, provide a correction angle signal to the steering system so that the steering system compensates for the steering angle.

[0018] In some embodiments of the present application, when the braking force requirements are different, the control device can be used to: in response to the braking force requirement indicated by the braking signal being greater than a second threshold, control the first motor brake and the second motor brake to brake the left wheel and the right wheel of the first side wheel, and control the drive system to brake the left wheel and the right wheel of the second side wheel.

[0019] In some embodiments of the present application, when the braking force requirements are different, the control device can be used to: in response to the braking force requirement indicated by the brake signal being greater than the second threshold and less than the third threshold, control the first motor brake and the second motor brake to brake the left and right wheels of the first side wheels, and control the drive system to brake the left and right wheels of the second side wheels through the energy recovery function. In response to the braking force requirement indicated by the brake signal being greater than the third threshold, control the first motor brake and the second motor brake to brake the left and right wheels of the first side wheels, and control the drive system to reversely brake the left and right wheels of the second side wheels.

[0020] In the third aspect, the present application also provides a drive-brake fusion control method for a vehicle. Based on the vehicle including a first motor brake, a second motor brake and a drive system with an energy recovery function, the drive system includes a first drive motor and a second drive motor. In the event of failure, the control method includes: in response to the failure of the first motor brake, disabling the second drive motor to brake the right wheel of the second side wheel, and controlling the first drive motor to brake the left wheel of the second side wheel and the second motor brake to brake the right wheel of the first side wheel, or disabling the second motor brake to brake the right wheel of the first side wheel, and controlling the first drive motor and the second drive motor to brake the left wheel and the right wheel of the second side wheel respectively. In response to the failure of the second motor brake, disabling the first drive motor to brake the left wheel of the second side wheel, and controlling the second drive motor to brake the right wheel of the second side wheel and the first motor brake to brake the left wheel of the first side wheel, or disabling the first motor brake to brake the left wheel of the first side wheel, and controlling the first drive motor and the second drive motor to brake the left wheel and the right wheel of the second side wheel respectively, wherein the first side and the second side are the front side and the rear side, respectively.

[0021] In some embodiments of the present application, in the event of a failure, the control method includes: in response to the failure of any one of the first motor brake, the second motor brake, the first drive motor and the second drive motor, providing a correction angle signal to the steering system so that the steering system compensates for the steering angle.

[0022] For the technical effects that can be achieved by any possible design in any of the second to third aspects mentioned above, please refer to the description of the technical effects that can be achieved by any possible design in the first aspect mentioned above, and no further details will be given here. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 A schematic diagram of the structure of a vehicle provided in an embodiment of the present application;

[0024] Figure 2 Another structural schematic diagram of a vehicle provided in an embodiment of the present application;

[0025] Figure 3 Another structural schematic diagram of a vehicle provided in an embodiment of the present application;

[0026] Figure 4 Another structural schematic diagram of a vehicle provided in an embodiment of the present application;

[0027] Figure 5a A schematic diagram of providing a first side wheel braking force for a vehicle provided by an embodiment of the present application;

[0028] Figure 5b A schematic diagram of providing a second side wheel braking force for a vehicle provided by an embodiment of the present application;

[0029] Figure 6 A schematic diagram of a response strategy for a vehicle in a brake failure scenario provided by an embodiment of the present application;

[0030] Figure 7a A schematic diagram of another response strategy for a vehicle in a brake failure scenario provided by an embodiment of the present application;

[0031] Figure 7b A schematic diagram of another response strategy for a vehicle in a brake failure scenario provided by an embodiment of the present application;

[0032] Figure 7c A schematic diagram of another response strategy for a vehicle in a brake failure scenario provided by an embodiment of the present application;

[0033] Figure 7d A schematic diagram of another response strategy for a vehicle in a brake failure scenario provided by an embodiment of the present application;

[0034] Figure 8a A schematic diagram of another response strategy for a vehicle in a brake failure scenario provided by an embodiment of the present application;

[0035] Figure 8b A schematic diagram of another response strategy for a vehicle in a brake failure scenario provided by an embodiment of the present application;

[0036] Figure 9a A schematic diagram of another response strategy for a vehicle in a brake failure scenario provided by an embodiment of the present application;

[0037] Figure 9b A schematic diagram of another response strategy for a vehicle in a brake failure scenario provided by an embodiment of the present application;

[0038] Fig.10a A schematic diagram of another response strategy for a vehicle in a brake failure scenario provided by an embodiment of the present application;

[0039] Fig.10bA schematic diagram of another response strategy for a vehicle in a brake failure scenario provided by an embodiment of the present application;

[0040] Fig.11a A schematic diagram of another response strategy for a vehicle in a brake failure scenario provided by an embodiment of the present application;

[0041] Fig.11b A schematic diagram of another response strategy for a vehicle in a brake failure scenario provided by an embodiment of the present application;

[0042] Fig.12 A schematic diagram of another response strategy for a vehicle in a brake failure scenario provided in an embodiment of the present application. DETAILED DESCRIPTION

[0043] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings.

[0044] The terms used in the following embodiments are only for the purpose of describing specific embodiments and are not intended to be limiting of the present application. As used in the specification and appended claims of the present application, the singular expressions "a", "an", "said", "above", "the" and "this" are intended to also include expressions such as "one or more", unless there is a clear contrary indication in the context.

[0045] References to "one embodiment" or "some embodiments" etc. described in this specification mean that a particular feature, structure or characteristic described in conjunction with the embodiment is included in one or more embodiments of the present application. Thus, the phrases "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear at different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0046] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application.

[0047] The vehicle's drive system and braking system, as core components, directly determine the vehicle's performance.

[0048] Figure 1 A structural schematic diagram of a vehicle provided in an embodiment of the present application is exemplarily shown.

[0049] Reference Figure 1The vehicle provided in the embodiment of the present application may specifically include: a first electric motor brake 11 (EMB) for braking the left wheel of the first side wheel of the vehicle, a second electric motor brake 12 for braking the right wheel of the first side wheel of the vehicle, a drive system 2 for driving the second side wheel of the vehicle, and a control device 3 for controlling the first electric motor brake 11, the second electric motor brake 12 and the drive system 2. Among them, the first electric motor brake 11 and the second electric motor brake 12 are arranged on the first side of the vehicle, and the first electric motor brake 11 and the second motor controller 12 are electric brake devices that use motors to drive mechanical pistons to brake the corresponding wheels. The drive system 2 is arranged on the second side of the vehicle, and the drive system 2 has a cooperative regenerative brake (CRB) function. The control device 3 can control the left wheel of the first side wheel of the vehicle to brake only with the first electric motor brake 11, and control the right wheel of the first side wheel of the vehicle to brake only with the second electric motor brake 12. The control device 3 can also control the left and right wheels of the second side wheels of the vehicle to brake only with the drive system 2.

[0050] In the embodiment of the present application, the vehicle is applied to a two-axle vehicle, and the two-axle vehicle includes two front wheels and two rear wheels, wherein the two front wheels are respectively a front left (FL) wheel and a front right (FR) wheel, and the two rear wheels are respectively a rear left (RL) wheel and a rear right (RR) wheel. It should be pointed out that in the first side and the second side in the above description of the present application, one side is the front side and the other side is the rear side. Specifically, refer to Figure 1 , the first motor brake 11 and the second motor brake 12 can be arranged at the two front wheels of the vehicle respectively, and used to brake the front wheels of the vehicle, the drive system 2 can be arranged at the two rear wheels or the rear axle of the vehicle, and used to drive or brake the rear wheels of the vehicle, that is, the present application can be applied to electric vehicles or hybrid vehicles with rear wheels or rear axles having driving capabilities and energy recovery functions. Alternatively, the first motor brake 11 and the second motor brake 12 can be arranged at the two rear wheels of the vehicle respectively, and used to brake the rear wheels of the vehicle, the drive system 2 can be arranged at the two front wheels or the front axle of the vehicle, and used to drive or brake the front wheels of the vehicle, that is, the present application can be applied to electric vehicles or hybrid vehicles with front wheels or front axles having driving capabilities and energy recovery functions.

[0051] In the present application, the braking energy recovery function of the drive system 2 can better integrate the drive braking system, reduce the drive braking cost and the difficulty of layout in the vehicle. The first side wheel of the vehicle is only provided with braking force by two motor brakes, and the second side wheel of the vehicle is only provided with braking force by the drive system, which can supplement the insufficient braking force of the first side wheel, solve the problem of insufficient braking force, and make the vehicle have higher braking safety.

[0052] Figure 2 Another structural schematic diagram of a vehicle provided in an embodiment of the present application is exemplarily shown.

[0053] Reference Figure 2 In some embodiments of the present application, the drive system 2 may include two drive motors, namely a first drive motor 21 and a second drive motor 22, and both the first drive motor 21 and the second drive motor 22 need to have a braking energy recovery function. The first drive motor 21 is used to drive or brake the left wheel of the second side wheel of the vehicle, and the second drive motor 22 is used to drive or brake the right wheel of the second side wheel of the vehicle. Specifically, the two drive motors may be two hub motors respectively arranged in the second side wheel of the vehicle, or the two drive motors may also be two wheel-side motors respectively arranged at the edges of the second side wheel of the vehicle, or the two drive motors may also be two ordinary drive motors arranged on the chassis of the vehicle and transmitting the driving torque through the shaft.

[0054] Figure 3 Another structural schematic diagram of a vehicle provided in an embodiment of the present application is exemplarily shown.

[0055] Reference Figure 3 In other embodiments of the present application, the drive system 2 may also be a drive motor, namely a third drive motor 23, and the third drive motor 23 has a braking energy recovery function, and the third drive motor 23 is used to simultaneously drive or brake the left wheel and the right wheel of the second side wheel of the vehicle. Specifically, the third drive motor 23 may be a common drive motor arranged on the chassis and transmitting the drive torque through the shaft and the differential.

[0056] Figure 4 Another structural schematic diagram of a vehicle provided in an embodiment of the present application is exemplarily shown.

[0057] Reference Figure 4In some embodiments of the present application, the control device 3 may include a brake controller 31 and a drive controller 32. The brake controller 31 may receive a brake signal output by a brake pedal 41. The brake pedal 41 is generally arranged in the vehicle body, and in response to the driver's stepping operation, the brake pedal 41 may output a brake signal. Among them, the brake signal includes travel information or foot force. In some implementations, the brake pedal 41 may include a pedal body and a pedal travel sensor, and the pedal travel sensor is used to detect and output the travel information of the brake pedal 41. In addition, according to different stepping operations of the driver, such as light stepping, relatively light stepping, relatively heavy stepping and heavy stepping operations, the pedal travel sensor detects different travel information of the brake pedal 41, and the travel information can be compared with different set thresholds to determine the corresponding stepping operation, thereby generating a corresponding brake signal. When the brake pedal 41 generates a brake signal, it will be transmitted to the brake controller 31, and the brake controller 31 calculates the braking force required to be allocated to the drive system 2 and the braking force required to be generated by the first motor brake 11 and the second motor brake 12, and generates a corresponding braking instruction. The brake controller 31 can directly control the first motor brake 11 and the second motor brake 12 to generate a corresponding drive current to meet the required braking force. The brake controller 31 can send a corresponding braking instruction to the drive controller 32. The drive controller 32 generates a braking energy recovery instruction according to the corresponding braking instruction, and controls the drive system 2 to generate a power generation current according to the braking energy recovery instruction to meet the required braking force. The drive controller 32 can also receive a drive signal output by a drive pedal 42. The drive pedal 42 is generally also arranged in the vehicle body. In response to the driver's pedaling operation, the drive pedal 42 can output a drive signal. When the drive pedal 42 generates a drive signal, it will be transmitted to the drive controller 32, and the drive controller 32 will calculate the drive current required by the drive system 2 and generate a corresponding drive instruction. The drive system 2 can generate a corresponding drive torque according to the drive instruction to generate a driving force.

[0058] The brake signal generated by the above brake pedal 41 is generated in the manual driving mode. In the automatic driving mode, the brake controller 31 can also receive a brake signal sent from the upper controller, and the brake controller 31 can perform corresponding operations according to the brake signal. Similarly, the drive signal generated by the above drive pedal 42 is generated in the manual driving mode. In the automatic driving mode, the drive controller 32 can also receive a drive signal sent from the upper controller, and the drive controller 32 can perform corresponding operations according to the drive signal.

[0059] Figure 5a A schematic diagram showing, by way of example, a vehicle according to an embodiment of the present application providing a braking force on a first side wheel; Figure 5bA schematic diagram of the vehicle providing second side wheel braking force according to an embodiment of the present application is exemplarily shown.

[0060] The vehicle provided in the embodiment of the present application can perform driving and braking operations according to the driving intention. Specifically, in the normal driving state, the driving force can be provided by the driving system 2. In the braking scenario, refer to Figure 5a , the first side wheel can be braked by two motor brakes, refer to Figure 5b , the second side wheel can be preferentially provided with braking force by the braking energy recovery function of the drive system 2, and the insufficient braking force is supplemented by the reverse (negative) torque of the drive system 2. In addition, the application can set corresponding braking response modes according to different braking scenarios to ensure that sufficient braking energy recovery can be performed in conventional braking scenarios and sufficient braking force can be provided in emergency braking scenarios.

[0061] In some embodiments of the present application, in response to the braking force requirement indicated by the braking signal being less than the first threshold, the control device 3 can control the drive system 2 to brake the left and right wheels of the second side wheels to meet the braking demand. Specifically, when the driver lightly steps on the brake pedal 41, the pedal travel sensor of the brake pedal 41 detects the travel information of the brake pedal 41, and the brake pedal 41 can generate a braking signal indicating that the braking force requirement is less than the first threshold and transmit it to the brake controller 31. Alternatively, in the automatic driving mode, the brake controller 31 can receive a braking signal indicating that the braking force requirement is less than the first threshold sent from the upper controller. The brake controller 31 determines that the braking energy recovery function of the drive system 2 can meet the braking demand based on the braking signal, and can generate a first braking instruction based on the braking signal, and send the first braking instruction to the drive controller 32. The drive controller 32 can control the drive system 2 to provide braking force through the braking energy recovery function based on the first braking instruction.

[0062] In some embodiments of the present application, in response to the braking force requirement indicated by the brake signal being greater than the first threshold and less than the second threshold, the control device 3 can control the first motor brake 11 and the second motor brake 12 to brake the left and right wheels of the first side wheels to meet the braking requirement. Specifically, when the driver steps on the brake pedal 41 lightly, the pedal travel sensor of the brake pedal 41 detects the travel information of the brake pedal 41, and the brake pedal 41 can generate a brake signal indicating that the braking force requirement is greater than the first threshold and less than the second threshold and transmit it to the brake controller 31. Alternatively, in the automatic driving mode, the brake controller 31 can receive a brake signal indicating that the braking force requirement is greater than the first threshold and less than the second threshold sent from the upper controller. The brake controller 31 determines that the first motor brake 11 and the second motor brake 12 can meet the braking requirement based on the brake signal, and can directly control the first motor brake 11 and the second motor brake 12 to increase the driving current of the motor to increase the braking force of the wheel end according to the brake signal.

[0063] In some embodiments of the present application, in response to the braking force requirement indicated by the braking signal being greater than a second threshold, the control device 3 can control the drive system 2 to brake the left wheel and the right wheel of the second side wheel, and simultaneously control the first motor brake 11 and the second motor brake 12 to brake the left wheel and the right wheel of the first side wheel to meet the braking requirement.

[0064] Specifically, in some embodiments of the present application, in response to the braking force requirement indicated by the brake signal being greater than the second threshold and less than the third threshold, the control device 3 can control the drive system 2 to brake the left and right wheels of the second side wheels through the energy recovery function, and at the same time control the first motor brake 11 and the second motor brake 12 to brake the left and right wheels of the first side wheels to meet the braking demand. For example, when the driver steps on the brake pedal 41 more heavily, the pedal travel sensor of the brake pedal 41 detects the travel information of the brake pedal 41, and the brake pedal 41 can generate a braking signal with a braking force requirement greater than the second threshold and less than the third threshold and transmit it to the brake controller 31. Alternatively, in the automatic driving mode, the brake controller 31 can receive a braking signal with a braking force requirement greater than the second threshold and less than the third threshold sent from the upper controller. After the brake controller 31 calculates the braking force required to be generated by the braking energy recovery function of the drive system 2 and the braking force required to be generated by the first motor brake 11 and the second motor brake 12 according to the braking signal, the brake controller 31 can directly control the first motor brake 11 and the second motor brake 12 to increase the driving current of the motor to increase the braking force of the wheel end. At the same time, the brake controller 31 needs to generate a second braking instruction and send the second braking instruction to the drive controller 32. The drive controller 32 controls the drive system 2 to generate a power generation current through the braking energy recovery function according to the second braking instruction to provide the corresponding braking force at the same time.

[0065] Specifically, in some embodiments of the present application, in response to the braking force requirement indicated by the braking signal being greater than the third threshold, the control device 3 can control the drive system 2 to reversely brake the left and right wheels of the second side wheels, and control the first motor brake 11 and the second motor brake 12 to brake the left and right wheels of the first side wheels to meet the braking requirements. For example, when the driver steps on the brake pedal 41 hard, the pedal travel sensor of the brake pedal 41 detects the travel information of the brake pedal 41, and the brake pedal 41 can generate a braking signal with a braking force requirement greater than the third threshold and transmit it to the brake controller 31. Alternatively, in the automatic driving mode, the brake controller 31 can receive a braking signal with a braking force requirement greater than the third threshold sent from the upper controller. After the brake controller 31 calculates the braking force required to be allocated to the drive system 2 and the braking force required to be generated by the first motor brake 11 and the second motor brake 12 according to the braking signal, the brake controller 31 can directly control the first motor brake 11 and the second motor brake 12 to increase the driving current of the motor to increase the braking force of the wheel end, and the brake controller 31 needs to generate a third braking instruction and send the third braking instruction to the drive controller 32. The drive controller 32 controls the drive system 2 to generate reverse torque and generate power current according to the third braking command, so as to provide a greater reverse braking force.

[0066] It is worth noting that the specific values ​​of the first threshold, the second threshold, and the third threshold mentioned above can be set according to actual needs. Generally, the first threshold is smaller than the second threshold, and the second threshold is smaller than the third threshold.

[0067] The present application can also set corresponding response strategies according to different brake failure scenarios to ensure smooth braking of the vehicle.

[0068] Figure 6 A schematic diagram of a response strategy for a vehicle in a brake failure scenario provided by an embodiment of the present application is exemplified.

[0069] Reference Figure 6 In some embodiments of the present application, when the first motor brake 11 and the second motor brake 12 fail at the same time, the drive system 2 can be controlled to provide braking force. That is, when the left wheel and the right wheel brakes of the first side wheels fail at the same time, the left wheel and the right wheel of the second side wheels can be controlled to perform the same deceleration process. In addition, when the braking force generated by the drive system 2 is insufficient to meet the deceleration requirement corresponding to the brake signal generated by the brake pedal 41, the vehicle can also be decelerated by redundant braking or an electrical park brake (EPB) system.

[0070] When the single-side motor brake fails, different response strategies can be adopted for different drive system 2 architectures.

[0071] Figure 7a Another schematic diagram of a response strategy for a vehicle in a brake failure scenario provided by an embodiment of the present application is exemplarily shown; Figure 7b Another schematic diagram of a response strategy for a vehicle in a brake failure scenario provided by an embodiment of the present application is exemplarily shown; Figure 7c Another schematic diagram of a response strategy for a vehicle in a brake failure scenario provided by an embodiment of the present application is exemplarily shown; Figure 7d A schematic diagram of another response strategy for a vehicle in a brake failure scenario provided in an embodiment of the present application is exemplified.

[0072] In some embodiments of the present application, when the drive system 2 includes two drive motors, namely, the first drive motor 21 and the second drive motor 22, when the single-side motor brake fails, in order to brake the vehicle smoothly, the diagonal drive motor can be controlled to stop working. Figure 7a When the first motor brake 11 fails, the control device 3 can disable the second drive motor 22 from braking the right wheel of the second side wheel, and use the second motor brake 12 and the first drive motor 21 to provide the same braking force. That is, when the left wheel brake of the first side wheel fails, the brake of the right wheel of the second side wheel can be controlled to stop working, the first drive motor 21 is controlled to brake the left wheel of the second side wheel and the second motor brake 12 is controlled to brake the right wheel of the first side wheel, and the right wheel of the first side wheel and the left wheel of the second side wheel are decelerated. Figure 7b When the second motor brake 12 fails, the control device 3 can disable the first drive motor 21 to brake the left wheel of the second side wheel, and use the first motor brake 11 and the second drive motor 22 to provide braking force. That is, when the right wheel brake of the first side wheel fails, the brake of the left wheel of the second side wheel can be controlled to stop working, and the first motor brake 11 is controlled to brake the left wheel of the first side wheel and the second drive motor 22 is controlled to brake the right wheel of the second side wheel, so as to decelerate the left wheel of the first side wheel and the right wheel of the second side wheel.

[0073] In other embodiments of the present application, when the drive system 2 includes two drive motors, namely, the first drive motor 21 and the second drive motor 22, when the motor brake on one side fails, in order to brake the vehicle smoothly, the motor control device on the same side can be controlled to stop working, and the first drive motor 21 and the second drive motor 22 can be used to provide the same braking force. Figure 7cWhen the first motor brake 11 fails, the control device 3 can disable the second motor brake 12 to brake the right wheel of the first side wheels, and use the first drive motor 21 and the second drive motor 22 to provide the same braking force. That is, when the left wheel brake of the first side wheels fails, the brake of the right wheel of the first side wheels can be controlled to stop working, and the first drive motor 21 is controlled to brake the left wheel of the second side wheels and the second drive motor 22 is controlled to brake the right wheel of the second side wheels, so as to decelerate the left and right wheels of the second side wheels. Figure 7d When the second motor brake 12 fails, the control device 3 can disable the first motor brake 11 to brake the left wheel of the first side wheels, and use the first drive motor 21 and the second drive motor 22 to provide the same braking force through the braking energy recovery function. That is, when the right wheel brake of the first side wheels fails, the brake of the left wheel of the first side wheels can be controlled to stop working, the first drive motor 21 is controlled to brake the left wheel of the second side wheels, and the second drive motor 22 is controlled to brake the right wheel of the second side wheels, so as to decelerate the left and right wheels of the second side wheels.

[0074] Figure 8a Another schematic diagram of a response strategy for a vehicle in a brake failure scenario provided by an embodiment of the present application is exemplarily shown; Figure 8b A schematic diagram of another response strategy for a vehicle in a brake failure scenario provided in an embodiment of the present application is exemplified.

[0075] In some embodiments of the present application, when the drive system 2 is a drive motor, namely the third drive motor 23, when the motor brake on one side fails, in order to brake the vehicle smoothly, the motor control device on the same side can be controlled to stop working, and the braking energy recovery function of the third drive motor 23 is used to provide the same braking force to the left and right wheels of the second side wheels. Figure 8a When the first motor brake 11 fails, the control device 3 can disable the second motor brake 12 to brake the right wheel of the first side wheel, and use the third drive motor 23 to provide braking force. That is, when the left wheel brake of the first side wheel fails, the brake of the right wheel of the first side wheel can be controlled to stop working, and the drive system 2 can be controlled to brake the left and right wheels of the second side wheel, and the left and right wheels of the second side wheel are subjected to the same deceleration treatment. Figure 8b When the second motor brake 12 fails, the control device 3 can disable the first motor brake 11 to brake the left wheel of the first side wheels, and use the third drive motor 23 to provide braking force. That is, when the right wheel brake of the first side wheels fails, the brake of the left wheel of the first side wheels can be controlled to stop working, and the drive system 2 can be controlled to brake the left and right wheels of the second side wheels, and the left and right wheels of the second side wheels are subjected to the same deceleration process.

[0076] Figure 9aAnother schematic diagram of a response strategy for a vehicle in a brake failure scenario provided by an embodiment of the present application is exemplarily shown; Figure 9b A schematic diagram of another response strategy for a vehicle in a brake failure scenario provided in an embodiment of the present application is exemplified.

[0077] In other embodiments of the present application, when the motor brake on one side fails, the steering system can also be used to increase the steering angle to achieve stable braking of the vehicle. Figure 9a When the first motor brake 11 fails, the control device 3 uses the second motor brake 12 and the drive system 2 to provide braking force, and the control device 3 provides a correction angle signal to the steering system so that the steering system controls the steering wheel to increase the steering angle to compensate for the torque generated by the failure of the first motor brake 11. That is, when the left wheel brake of the first side wheels fails, the right wheel of the first side wheels and the left and right wheels of the second side wheels can be decelerated, and the steering angle of the steering wheel can be increased. Figure 9b When the second motor brake 12 fails, the control device 3 uses the first motor brake 11 and the drive system 2 to provide braking force, and the control device 3 provides a correction angle signal to the steering system so that the steering system controls the steering wheel to increase the steering angle to compensate for the torque generated by the failure of the second motor brake 12. That is, when the right wheel brake of the first side wheels fails, the left wheel of the first side wheels, the left wheel and the right wheel of the second side wheels can be decelerated, and the steering angle of the steering wheel can be increased.

[0078] Fig.10a Another schematic diagram of a response strategy for a vehicle in a brake failure scenario provided by an embodiment of the present application is exemplarily shown; Fig.10b A schematic diagram of another response strategy for a vehicle in a brake failure scenario provided in an embodiment of the present application is exemplified.

[0079] In some embodiments of the present application, when the drive system 2 includes two drive motors, namely, a first drive motor 21 and a second drive motor 22, when a single drive motor fails, the other drive motor may be controlled to stop working in order to brake the vehicle smoothly. Fig.10a When the first drive motor 21 fails, the control device 3 can disable the second drive motor 22 to brake the right wheel of the second side wheels, and use the first motor brake 11 and the second motor brake 12 to provide the same braking force. That is, when the left wheel brake of the second side wheels fails, the brake of the right wheel of the second side wheels can be controlled to stop working, and the first motor brake 11 and the second motor brake 12 can be controlled to brake the left wheel and the right wheel of the first side wheels respectively, so as to decelerate the left wheel and the right wheel of the first side wheels. Fig.10bWhen the second drive motor 22 fails, the control device 3 can disable the first drive motor 21 to brake the left wheel of the second side wheels, and use the first motor brake 11 and the second motor brake 12 to provide the same braking force. That is, when the right wheel brake of the second side wheels fails, the brake of the left wheel of the second side wheels can be controlled to stop working, and the first motor brake 11 and the second motor brake 12 can be controlled to brake the left wheel and the right wheel of the first side wheels respectively, so as to decelerate the left wheel and the right wheel of the first side wheels.

[0080] Fig.11a Another schematic diagram of a response strategy for a vehicle in a brake failure scenario provided by an embodiment of the present application is exemplarily shown; Fig.11b A schematic diagram of another response strategy for a vehicle in a brake failure scenario provided in an embodiment of the present application is exemplified.

[0081] In some embodiments of the present application, when the drive system 2 includes two drive motors, namely the first drive motor 21 and the second drive motor 22, when the single-side drive motor fails, the steering system can also be used to increase the steering angle to brake the vehicle smoothly. Fig.11a When the first drive motor 21 fails, the control device 3 uses the first motor brake 11, the second motor brake 12 and the second drive motor 22 to provide braking force, and the control device 3 provides a correction angle signal to the steering system so that the steering system controls the steering wheel to increase the steering angle to compensate for the torque generated by the failure of the first drive motor 21. That is, when the left wheel brake of the second side wheel fails, the right wheel of the second side wheel, the left wheel and the right wheel of the first side wheel can be decelerated, and the steering angle of the steering wheel can be increased. Fig.11b When the second drive motor 22 fails, the control device 3 uses the first motor brake 11, the second motor brake 12 and the first drive motor 21 to provide braking force, and the control device 3 provides a correction angle signal to the steering system so that the steering system controls the steering wheel to increase the steering angle to compensate for the torque generated by the failure of the second drive motor 22. That is, when the right wheel brake of the second side wheel fails, the left wheel of the second side wheel, the left wheel and the right wheel of the first side wheel can be decelerated, and the steering angle of the steering wheel can be increased.

[0082] Fig.12 A schematic diagram of another response strategy for a vehicle in a brake failure scenario provided in an embodiment of the present application is exemplified.

[0083] Reference Fig.12In some embodiments of the present application, when the drive system 2 fails, that is, when the drive system 2 includes two drive motors, namely, the first drive motor 21 and the second drive motor 22, the two drive motors fail at the same time, and when the drive system 2 includes one drive motor, namely, the third drive motor 23, the third drive motor 23 fails, the first motor brake 11 and the second motor brake 12 can be controlled to provide the same braking force to brake the vehicle smoothly. That is, when the left wheel and the right wheel brakes of the second side wheels fail at the same time, the first motor brake 11 and the second motor brake 12 are controlled to brake the left wheel and the right wheel of the first side wheels respectively, and the left wheel and the right wheel of the first side wheels can be controlled to perform the same deceleration process.

[0084] The embodiments of the present application propose that the above-mentioned vehicle can be applied to electric vehicles or hybrid vehicles with a braking energy recovery function.

[0085] Based on the same inventive concept, the present application also provides a drive-brake fusion control device for a vehicle. The driven controlled vehicle includes a first motor brake, a second motor brake and a drive system with an energy recovery function, and the drive system includes a first drive motor and a second drive motor. Wherein: the first motor brake is used to brake the left wheel of the first side wheel of the vehicle, and the second motor brake is used to brake the right wheel of the first side wheel of the vehicle; the first drive motor is used to drive or brake the left wheel of the second side wheel of the vehicle, and the second drive motor is used to drive or brake the right wheel of the second side wheel of the vehicle, wherein the first side and the second side are the front side and the rear side respectively.

[0086] In the event of a failure, the control is designed to:

[0087] In response to failure of the first motor brake, the second drive motor is disabled to brake the right wheel of the second side wheels, and the first drive motor is controlled to brake the left wheel of the second side wheels and the second motor brake is controlled to brake the right wheel of the first side wheels, or the second motor brake is disabled to brake the right wheel of the first side wheels, and the first drive motor and the second drive motor are controlled to brake the left wheel and the right wheel of the second side wheels respectively.

[0088] In response to failure of the second motor brake, the first drive motor is disabled to brake the left wheel of the second side wheels, and the second drive motor is controlled to brake the right wheel of the second side wheels and the first motor brake is controlled to brake the left wheel of the first side wheels, or the first motor brake is disabled to brake the left wheel of the first side wheels, and the first drive motor and the second drive motor are controlled to brake the left wheel and the right wheel of the second side wheels respectively.

[0089] In some embodiments of the present application, in the event of a failure, the control device may also be used to:

[0090] In response to failure of any one of the first motor brake, the second motor brake, the first drive motor, and the second drive motor, a correction angle signal is provided to the steering system so that the steering system compensates for the steering angle.

[0091] In some embodiments of the present application, when the braking force requirements are different, the control device can be used to:

[0092] In response to the braking force requirement indicated by the brake signal being greater than a second threshold, the first motor brake and the second motor brake are controlled to brake the left and right wheels of the first side wheels, and the drive system is controlled to brake the left and right wheels of the second side wheels.

[0093] In some embodiments of the present application, when the braking force requirements are different, the control device can be used to:

[0094] In response to the braking force requirement indicated by the brake signal being greater than the second threshold and less than the third threshold, the first motor brake and the second motor brake are controlled to brake the left and right wheels of the first side wheels, and the drive system is controlled to brake the left and right wheels of the second side wheels through the energy recovery function. In response to the braking force requirement indicated by the brake signal being greater than the third threshold, the first motor brake and the second motor brake are controlled to brake the left and right wheels of the first side wheels, and the drive system is controlled to reversely brake the left and right wheels of the second side wheels.

[0095] In a third aspect, the present application also provides a driving and braking fusion control method for a vehicle. The vehicle includes a first motor brake, a second motor brake and a driving system with an energy recovery function, and the driving system includes a first driving motor and a second driving motor.

[0096] In the event of a failure, the control method includes: in response to the failure of the first motor brake, disabling the second drive motor to brake the right wheel of the second side wheel, and controlling the first drive motor to brake the left wheel of the second side wheel and the second motor brake to brake the right wheel of the first side wheel, or disabling the second motor brake to brake the right wheel of the first side wheel, and controlling the first drive motor and the second drive motor to brake the left wheel and the right wheel of the second side wheel respectively.

[0097] In response to failure of the second motor brake, the first drive motor is disabled to brake the left wheel of the second side wheels, and the second drive motor is controlled to brake the right wheel of the second side wheels and the first motor brake is controlled to brake the left wheel of the first side wheels, or the first motor brake is disabled to brake the left wheel of the first side wheels, and the first drive motor and the second drive motor are controlled to brake the left wheel and the right wheel of the second side wheels respectively, wherein the first side and the second side are the front side and the rear side respectively.

[0098] In some embodiments of the present application, in the event of a failure, the control method includes: in response to the failure of any one of the first motor brake, the second motor brake, the first drive motor and the second drive motor, providing a correction angle signal to the steering system so that the steering system compensates for the steering angle.

[0099] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the scope of protection of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A vehicle, characterized in that: The vehicle comprises: a first motor brake, a second motor brake, a drive system with energy recovery function and a control device, wherein: The first motor brake and the second motor brake are arranged on a first side of the vehicle, and the control device is used to control the left wheel of the first side of the vehicle to be braked only by the first motor brake and the right wheel of the first side of the vehicle to be braked only by the second motor brake; The drive system is arranged on the second side of the vehicle, and the control device is used to control the left wheel and the right wheel of the second side of the vehicle to be braked only by the drive system, wherein the first side and the second side are respectively the front side and the rear side.

2. The vehicle according to claim 1, characterized in that The control device is used to: In response to the first motor brake failing, disabling the second motor brake to brake the right wheel of the first side wheels, and controlling the drive system to brake the left wheel and the right wheel of the second side wheels; In response to the second motor brake failing, the first motor brake is disabled to brake the left wheel of the first side wheels, and the drive system is controlled to brake the left wheel and the right wheel of the second side wheels.

3. The vehicle according to claim 1 or 2, characterized in that: The drive system comprises a first drive motor and a second drive motor, wherein: The first drive motor is used to drive or brake the left wheel of the second side wheel of the vehicle; The second drive motor is used to drive or brake the right wheel of the second side wheel of the vehicle; The control device is used for: In response to the first motor brake failing, disabling the second drive motor to brake the right wheel of the second side wheel, and controlling the first drive motor to brake the left wheel of the second side wheel and the second motor brake to brake the right wheel of the first side wheel, or disabling the second motor brake to brake the right wheel of the first side wheel, and controlling the first drive motor and the second drive motor to brake the left wheel and the right wheel of the second side wheel respectively; In response to the failure of the second motor brake, the first drive motor is disabled to brake the left wheel of the second side wheel, and the second drive motor is controlled to brake the right wheel of the second side wheel and the first motor brake is controlled to brake the left wheel of the first side wheel, or the first motor brake is disabled to brake the left wheel of the first side wheel, and the first drive motor and the second drive motor are controlled to brake the left wheel and the right wheel of the second side wheel respectively.

4. The vehicle according to claim 3, characterized in that The control device is used to: In response to the failure of the first drive motor, disabling the second drive motor to brake the right wheel of the second side wheels, and controlling the first motor brake and the second motor brake to brake the left wheel and the right wheel of the first side wheels respectively; In response to the failure of the second driving motor, the first driving motor is disabled to brake the left wheel of the second side wheels, and the first motor brake and the second motor brake are controlled to brake the left wheel and the right wheel of the first side wheels respectively.

5. The vehicle according to any one of claims 1 to 4, characterized in that: The control device is used for: In response to failure of any one of the first motor brake, the second motor brake and the drive system, the control device provides a correction angle signal to the steering system so that the steering system compensates for a steering angle.

6. The vehicle according to any one of claims 1 to 5, characterized in that: The control device is used to: In response to the braking force requirement indicated by the brake signal being less than a first threshold, the drive system is controlled to brake the left wheel and the right wheel of the second side wheel.

7. The vehicle according to any one of claims 1 to 5, characterized in that: The control device is used for: In response to the braking force requirement indicated by the brake signal being greater than a first threshold and less than a second threshold, the first motor brake and the second motor brake are controlled to brake the left wheel and the right wheel of the first side wheel.

8. The vehicle according to any one of claims 1 to 5, characterized in that: The control device is used for: In response to the braking force requirement indicated by the brake signal being greater than a second threshold, the first motor brake and the second motor brake are controlled to brake the left and right wheels of the first side wheels, and the drive system is controlled to brake the left and right wheels of the second side wheels.

9. The vehicle according to any one of claims 1 to 5, characterized in that: The control device is used to: In response to the braking force requirement indicated by the brake signal being greater than a second threshold and less than a third threshold, controlling the first motor brake and the second motor brake to brake the left wheel and the right wheel of the first side wheel, and controlling the drive system to brake the left wheel and the right wheel of the second side wheel through an energy recovery function; In response to the braking force requirement indicated by the brake signal being greater than a third threshold, the first motor brake and the second motor brake are controlled to brake the left and right wheels of the first side wheels, and the drive system is controlled to reversely brake the left and right wheels of the second side wheels.

10. A driving and braking fusion control device for a vehicle, characterized in that: The vehicle comprises a first motor brake, a second motor brake and a drive system with an energy recovery function, wherein: The first motor brake is used to brake the left wheel of the first side wheel of the vehicle; The second motor brake is used to brake the right wheel of the first side wheel of the vehicle; The drive system comprises a first drive motor and a second drive motor, the first drive motor is used to drive or brake the left wheel of the second side wheel of the vehicle, and the second drive motor is used to drive or brake the right wheel of the second side wheel of the vehicle, wherein the first side and the second side are respectively the front side and the rear side; The control device is used to: In response to the first motor brake failing, disabling the second drive motor to brake the right wheel of the second side wheels, and controlling the first drive motor to brake the left wheel of the second side wheels and the second motor brake to brake the right wheel of the first side wheels, or disabling the second motor brake to brake the right wheel of the first side wheels, and controlling the first drive motor and the second drive motor to brake the left wheel and the right wheel of the second side wheels respectively; In response to the failure of the second motor brake, the first drive motor is disabled to brake the left wheel of the second side wheel, and the second drive motor is controlled to brake the right wheel of the second side wheel and the first motor brake is controlled to brake the left wheel of the first side wheel, or the first motor brake is disabled to brake the left wheel of the first side wheel, and the first drive motor and the second drive motor are controlled to brake the left wheel and the right wheel of the second side wheel respectively.

11. The driving and braking fusion control device for a vehicle according to claim 10, characterized in that: The control device is used to: In response to any one of the first motor brake, the second motor brake, the first drive motor, and the second drive motor failing, a correction angle signal is provided to a steering system so that the steering system compensates for a steering angle.

12. The driving and braking fusion control device for a vehicle according to claim 10 or 11, characterized in that: The control device is used to: In response to the braking force requirement indicated by the brake signal being greater than a second threshold, the first motor brake and the second motor brake are controlled to brake the left and right wheels of the first side wheels, and the drive system is controlled to brake the left and right wheels of the second side wheels.

13. The driving and braking fusion control device for a vehicle according to any one of claims 10 to 12, characterized in that: The control device is used to: In response to the braking force requirement indicated by the brake signal being greater than a second threshold and less than a third threshold, controlling the first motor brake and the second motor brake to brake the left wheel and the right wheel of the first side wheel, and controlling the drive system to brake the left wheel and the right wheel of the second side wheel through an energy recovery function; In response to the braking force requirement indicated by the brake signal being greater than a third threshold, the first motor brake and the second motor brake are controlled to brake the left and right wheels of the first side wheels, and the drive system is controlled to reversely brake the left and right wheels of the second side wheels.

14. A driving and braking fusion control method for a vehicle, characterized in that: The vehicle comprises: a first motor brake, a second motor brake and a drive system with an energy recovery function, the drive system comprises a first drive motor and a second drive motor, wherein the method comprises: In response to the first motor brake failing, disabling the second drive motor to brake the right wheel of the second side wheels, and controlling the first drive motor to brake the left wheel of the second side wheels and the second motor brake to brake the right wheel of the first side wheels, or disabling the second motor brake to brake the right wheel of the first side wheels, and controlling the first drive motor and the second drive motor to brake the left wheel and the right wheel of the second side wheels respectively; In response to the failure of the second motor brake, the first drive motor is disabled to brake the left wheel of the second side wheel, and the second drive motor is controlled to brake the right wheel of the second side wheel and the first motor brake is controlled to brake the left wheel of the first side wheel, or the first motor brake is disabled to brake the left wheel of the first side wheel, and the first drive motor and the second drive motor are controlled to brake the left wheel and the right wheel of the second side wheel respectively, wherein the first side and the second side are the front side and the rear side respectively.

15. The driving and braking fusion control method for a vehicle according to claim 14, characterized in that: The method comprises: In response to any one of the first motor brake, the second motor brake, the first drive motor, and the second drive motor failing, a correction angle signal is provided to a steering system so that the steering system compensates for a steering angle.

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